Merge pull request #257 from robotics-in-concert/admin_app_patch

Improvment of service manager

concert_master/launch/concert_master.launch

@@ -18,7 +18,7 @@
  <arg name="conductor_local_clients_only" default="false"/>
  <!-- Service Manager -->
  <arg name="services" default=""/> <!-- service list resource location. e.g. concert_tutorial/tutorial.services --> 
- <arg name="auto_enable_services" default="[]"/> <!-- autoenable services, e.g. [admin, initialisation] services which auto enabled on start up or "all" to enable all services -->
+ <arg name="default_auto_enable_services" default="[]"/> <!-- autoenable services, e.g. [admin, initialisation] services which auto enabled on start up or "all" to enable all services -->
 
  <!-- Interactions -->
  <arg name="enable_rosbridge" default="false"/>
@@ -43,8 +43,9 @@
 
  <!-- ***************************** Service Manager *************************** -->
  <include file="$(find concert_service_manager)/launch/service_manager.launch">
+ <arg name="concert_name" value="$(arg concert_name)"/>
  <arg name="services" value="$(arg services)" />
- <arg name="auto_enable_services" value="$(arg auto_enable_services)" />
+ <arg name="default_auto_enable_services" value="$(arg default_auto_enable_services)" />
  </include>
 
  <!-- ***************************** Software Farmer *************************** -->

concert_service_manager/launch/service_manager.launch

@@ -1,9 +1,11 @@
 <launch>
- <arg name="auto_enable_services" default="[]"/> <!-- autoenable services, e.g. [admin, initialisation] services which auto enabled on start up or "all" to enable all services -->
+ <arg name="concert_name" default="Rocon concert"/> <!-- concert name, e.g. Pirate Concert, demo_concert, etc. -->
+ <arg name="default_auto_enable_services" default="[]"/> <!-- autoenable services, e.g. [admin, initialisation] services which auto enabled on start up or "all" to enable all services -->
  <arg name="services" default="[]"/> <!-- comma separated list of service resource names (e.g. 'chatter_concert/chatter') -->
 
  <node pkg="concert_service_manager" name="services" type="service_manager">
+ <rosparam param="concert_name" subst_value="True">$(arg concert_name)</rosparam>
  <rosparam param="services" subst_value="True">$(arg services)</rosparam>
- <rosparam param="auto_enable_services" subst_value="True">$(arg auto_enable_services)</rosparam>
+ <rosparam param="default_auto_enable_services" subst_value="True">$(arg default_auto_enable_services)</rosparam>
  </node>
 </launch>

concert_service_manager/src/concert_service_manager/__init__.py

@@ -11,3 +11,5 @@
 from .service_pool import ServicePool
 from .exceptions import InvalidSolutionConfigurationException, InvalidServiceProfileException
 from .service_profile import ServiceProfile
+from .service_cache_manager import ServiceCacheManager
+from .utils import *

concert_service_manager/src/concert_service_manager/load_params.py

@@ -10,26 +10,27 @@
 import yaml
 import rocon_python_utils
 
+INVALID_PARAM = ['name', 'description', 'uuid']
+
 ##############################################################################
 # Methods
 ##############################################################################
 
+def load_parameters_from_resource(parameter_resource_name, namespace, name, load):
+ filepath = rocon_python_utils.ros.find_resource_from_string(resource_name, extension='parameters')
+ load_parameters_from_file(filepath, namespace, name, load)
 
-def load_parameters_from_file(parameter_file, namespace, name, load):
-
- INVALID_PARAM = ['name', 'description', 'uuid']
-
- filepath = rocon_python_utils.ros.find_resource_from_string(parameter_file, extension='parameters')
-
+def load_parameters_from_file(parameter_file_path, namespace, name, load):
+ filepath = parameter_file_path
  with open(filepath) as f:
  params = yaml.load(f)
  for k, v in params.items():
  if k in INVALID_PARAM:
  if load:
- rospy.logwarn("Service Manager: %s%s [%s]" % (str(k), ' is prohibitted parameter. Ignoring...', name))
+ rospy.logwarn("Service Manager : %s%s [%s]" % (str(k), ' is prohibitted parameter. Ignoring...', name))
  continue
  param_name = namespace + '/' + k
  if load:
  rospy.set_param(param_name, v)
  else:
- rospy.delete_param(param_name)
+ rospy.delete_param(param_name)